CN1976211A - Mixed speed regulating method for permanent magnetic synchronous motor - Google Patents
Mixed speed regulating method for permanent magnetic synchronous motor Download PDFInfo
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- CN1976211A CN1976211A CNA200610155176XA CN200610155176A CN1976211A CN 1976211 A CN1976211 A CN 1976211A CN A200610155176X A CNA200610155176X A CN A200610155176XA CN 200610155176 A CN200610155176 A CN 200610155176A CN 1976211 A CN1976211 A CN 1976211A
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Abstract
A mixed speed regulating method of permanent magnet synchronous motor includes applying self-control vector to control speed when permanent magnet synchronous motor is started up and switching said self-control of speed regulation onto separate- control of speed regulation when said motor enters steady-state and feedback rotary speed is on set speed value, outputting voltage vector of relevant frequency directly according to set speed when separate-control of speed regulation is applied and making control of speed regulation be in matching to that speed is controlled by open-loop control.
Description
Technical field
The present invention relates to the speed regulating method of permanent magnet synchronous motor, the speed regulating method of the salient pole type permanent magnet synchronous motor that rotary speed precision is had relatively high expectations during particularly to stable state.
Background technology
At present, the autocontrol vector control is a kind of main speed regulating method of permanent magnet synchronous motor, and the governing system of this method is that speed ring and electric current loop dicyclo are regulated, and wherein, electric current loop has the shaft current of friendship and two adjusters of direct-axis current (as shown in Figure 1).Regulating step is: velocity setting n
rGet error with speed feedback n and do speed PI (proportional integral) computing, obtain stator and hand over shaft current component set-point i
Qr, this value and the friendship shaft current component i that feeds back
qGet error and do friendship shaft current PI computing, obtain stator quadrature-axis voltage component u
qUsually with stator direct-axis current component i
DrBe given as zero, this value and the direct-axis current component i that feeds back
dGet error and do direct-axis current PI computing, obtain stator direct-axis voltage component u
dStator friendship, direct-axis voltage component are synthesized a voltage vector after the Park inverse transformation, apply voltage to motor (PMSM) by space vector pulse width modulation (SVPWM) inverter.Wherein, rotor-position detects by position transducer and obtains, and the feedback rotation speed n calculates by rotor position, and feedback is handed over, direct-axis current i
qAnd i
dObtain through the dq0 conversion by the actual stator three-phase current.
The shortcoming of this kind speed regulating method is: the location is detected error and then is had range rate error; Exist friendship, the direct-axis current of current detecting error and then feedback that error is arranged; Regulator performance and ratio, integral parameter are relevant, and one group of PI parameter can not take into account motor dynamically and steady-state behaviour.
The position, test the speed, the existence of current feedback error and characteristic that adjuster is regulated according to error make motor speed fluctuate even can depart from set-point that the motor speed precision is difficult to guarantee near set-point.
Summary of the invention
The mixed speed regulating method that the purpose of this invention is to provide a kind of permanent magnet synchronous motor, eliminate the motor revolution error that causes because of position detection error, range rate error, current detecting error and adjuster self-characteristic when being implemented in the motor steady operation, improve the degree of regulation of rotating speed.
For reaching above-mentioned purpose, the present invention is according to the salient pole of permagnetic synchronous motor, be that maximum electromagnetic torque is put pairing angle of torsion (angle of current phasor and d-axis) at [90 °, 135 °] in the interval, the merit angle of maximum torque point correspondence (voltage vector and the angle of handing over axle) is also in an interval, utilize him to control speed governing and widen adjustable torque between this merit angular region, adopt automatic control speed governing and him to control the speed regulating method that speed governing combines.
The mixed speed regulating method of permanent magnet synchronous motor of the present invention, it is characterized in that when permanent magnet synchronous motor starts, adopt the speed governing of autocontrol vector control, when motor enters stable state, in feedback rotating speed onspeed value constantly, the quadrature axis component u of locking output voltage vector
q, direct axis component u
dWith rotor position angle θ
0, cut him by the automatic control speed governing and control speed governing, with incision rotor position angle θ constantly
0Be initial value, press given speed n
rCalculate from given rotor position angle θ ', with quadrature-axis voltage component u
qWith direct-axis voltage component u
dAfter the Park inverse transformation, apply voltage to motor by the space vector pulse width modulation inverter, apply before the voltage at every turn, detect the actual rotor angular position theta, with angular difference Δ θ and the merit angle initial value δ of θ ' with θ
0Addition obtains actual work angle value δ, judges the δ scope, and he controls speed regulating section [δ if δ is setting
-, δ
+], then continue to adopt him to control speed governing, if having exceeded him controls speed regulating section, then switch to the automatic control speed governing, when motor enters stable state once more, in feedback rotating speed onspeed value constantly, cut him once more and control speed governing, repeat said process; Above-mentioned δ
0, u
qAnd u
dBeing respectively the automatic control speed governing cuts him and controls constantly merit angle initial value of speed governing, the quadrature axis component u of voltage vector
qWith direct axis component u
d, δ
-, δ
+Be respectively the merit angle lower limit and the higher limit of setting.
Above-mentioned he is controlled speed regulating section [δ
-, δ
+] in, δ
+Corresponding angle of torsion β is at 90 °～β
MaxIn the scope, β
MaxBe calculated as follows
T
emax＝1.5P[ψ
fi
q+0.5(L
d-L
q)i
s 2sin2β
max]
In the formula, T
EmaxBe maximum electromagnetic torque value, P is the motor number of pole-pairs, ψ
fBe permanent magnetism magnetic linkage amplitude, i
qBe to hand over shaft current value, L
d, L
qBe respectively a stator d-axis and a friendship axle inductance value, i
sIt is the current phasor amplitude.
δ
-Corresponding angle of torsion β is in 0 °～90 ° scopes, for reducing current loss, δ
-Corresponding angle of torsion β is to be advisable near 90 °.
Beneficial effect of the present invention is:
The present invention adopts automatic control speed governing and him to control the speed regulating method that speed governing combines, when permanent magnet synchronous motor starts, adopt the automatic control speed governing, when motor enters stable state, adopt him to control speed governing,, be equivalent to speed open loop control directly according to the voltage vector of given speed output corresponding frequencies, than the automatic control speed governing cancelled test the speed, link such as speed regulator and current regulator, eliminated the error of above-mentioned link.When he controls speed governing, regulate the realization speed governing automatically with load disturbance merit angle, the rotary speed precision height.Load variations was little and require the servo occasion of high rotary speed precision when this speed regulating method was particularly useful for the motor steady operation.
Description of drawings
Fig. 1 is an autocontrol vector control system block diagram;
Fig. 2 is an autocontrol vector control system polar plot, and among the figure, a is a stator A phase winding axis, V
sBe voltage vector, i
sBe current phasor, θ is a rotor position angle, and d is the rotor d-axis, and q is that rotor is handed over axle;
Fig. 3 is salient pole type permagnetic synchronous motor electromagnetic torque-angle of torsion relation curve, among the figure, curve 1 be permanent-magnet torque, 2 for reluctance torque, 3 is synthetic electromagnetic torque, the torque value when intersection point A is angle of torsion β=90 °;
Fig. 4 is salient pole type permagnetic synchronous motor electromagnetic torque-merit angular dependence curve, among the figure, and merit angle value δ during the corresponding angle of torsion β of dotted line=90 °
0, torque value is the A point, left solid line is corresponding, and he controls operation lower limit merit angle value δ
-, torque value is the B point, right solid line is corresponding, and he controls operation upper limit merit angle value δ
+, torque value is the C point;
Fig. 5 is that he controls formula vector control system block diagram, among the figure, and u
d, u
qBe respectively the automatic control speed governing and cut straight, the quadrature axis component of the voltage vector that locks when he controls speed governing, θ ' and θ be respectively he when controlling speed governing from given rotor position angle and actual rotor position angle;
Fig. 6 is that he controls formula vector control system polar plot, and among the figure, a is a stator A phase winding axis, and d ' is controlled the virtual d axle that the self-supporting rotor position angle of speed governing produces, V for him
s' voltage vector when controlling speed governing for him, V
sVoltage vector when cutting him and control for automatic control, Δ δ is a merit angle changing value, q is that rotor is handed over axle, θ ' and θ be respectively he when controlling speed governing from given rotor position angle and actual rotor position angle.
Embodiment
Further specify the present invention below in conjunction with accompanying drawing.
The mixed speed regulating method of permanent magnet synchronous motor of the present invention: when permanent magnet synchronous motor starts, adopt traditional automatic control=formula vector control method (as Fig. 1), system realizes speed governing by a speed outer shroud and two current inner loop, is i
d0 rotor field-oriented scheme, polar plot such as Fig. 2.
When motor enters stable state, in feedback rotating speed onspeed value constantly, lock the quadrature axis component u of output voltage vector
q, direct axis component u
dWith rotor position angle θ
0, cut him by the automatic control speed governing and control speed governing (referring to Fig. 5, Fig. 6), with incision rotor position angle θ constantly
0Be initial value, press given speed n
rCalculate from given rotor position angle θ ', in each speed governing cycle, θ ' is calculated as follows
θ
k′＝θ
k-1′+Δθ′
In the formula, θ
K-1', θ
k' being respectively the self-supporting rotor position angle in one-period and this cycle, the angle step of Δ θ ' for calculating according to given rotating speed is calculated as follows
Δθ′＝k·n
r·θ
min
In the formula, n
rBe given speed, θ
MinBe the minimum angles increment, k is a coefficient.
According to self-supporting rotor angular position theta ', with quadrature-axis voltage component u
qWith direct-axis voltage component u
d(synthesized voltage vector V
s') after the Park inverse transformation, apply voltage to motor (PMSM) by space vector pulse width modulation (SVPWM) inverter.
In each speed governing cycle, merit angle δ
kBe calculated as follows
δ
k＝δ
0+θ
k′-θ
k
In the formula, δ
0Be incision merit angle value constantly, θ
kIt is the actual rotor position angle in this cycle.
Judge δ
kIf scope is δ
kControl speed regulating section [δ he who sets
-, δ
+], then continue to adopt him to control speed governing, if having exceeded him controls speed regulating section, then switch to the automatic control speed governing in order to avoid step-out when motor enters stable state once more, in feedback rotating speed onspeed value constantly, is cut him once more and controlled speed governing, repeat said process.
Control speed regulating section [δ above-mentioned he
-, δ
+] in, δ
+Corresponding angle of torsion β is at 90 °～β
MaxIn the scope, β
MaxBe calculated as follows
T
emax＝1.5P[ψ
fi
q+0.5(L
d-L
q)i
s 2sin2β
max]
In the formula, T
EmaxBe maximum electromagnetic torque value, P is the motor number of pole-pairs, ψ
fBe permanent magnetism magnetic linkage amplitude, i
qBe to hand over shaft current value, L
d, L
qBe respectively a stator d-axis and a friendship axle inductance value, i
sIt is the current phasor amplitude.
δ
-Corresponding angle of torsion β is in 0 °～90 ° scopes, for reducing current loss, δ
-Corresponding angle of torsion β is to be advisable near 90 °.
Claims (3)
1. the mixed speed regulating method of permanent magnet synchronous motor, it is characterized in that when permanent magnet synchronous motor starts, adopt the speed governing of autocontrol vector control, when motor enters stable state, in feedback rotating speed onspeed value constantly, the quadrature axis component u of locking output voltage vector
q, direct axis component u
dWith rotor position angle θ
0, cut him by the automatic control speed governing and control speed governing, with incision rotor position angle θ constantly
0Be initial value, press given speed n
rCalculate from given rotor position angle θ ', with quadrature-axis voltage component u
qWith direct-axis voltage component u
dAfter the Park inverse transformation, apply voltage to motor by the space vector pulse width modulation inverter, apply before the voltage at every turn, detect the actual rotor angular position theta, with angular difference Δ θ and the merit angle initial value δ of θ ' with θ
0Addition obtains actual work angle value δ, judges the δ scope, if δ he who sets control speed regulating section [δ-, δ
+], then continue to adopt him to control speed governing, if having exceeded him controls speed regulating section, then switch to the automatic control speed governing, when motor enters stable state once more, in feedback rotating speed onspeed value constantly, cut him once more and control speed governing, repeat said process; Above-mentioned δ
0, u
qAnd u
dBeing respectively the automatic control speed governing cuts him and controls constantly merit angle initial value of speed governing, the quadrature axis component u of voltage vector
qWith direct axis component u
d, δ
-, δ
+Be respectively the merit angle lower limit and the higher limit of setting.
2. the mixed speed regulating method of permanent magnet synchronous motor according to claim 1 is characterized in that δ
+Corresponding angle of torsion β is at 90 °～β
MaxIn the scope, β
MaxBe calculated as follows
T
emax＝1.5P[ψ
fi
q+0.5(L
d-L
q)i
s 2sin2β
max]
In the formula, T
EmaxBe maximum electromagnetic torque value, P is the motor number of pole-pairs, ψ
fBe permanent magnetism magnetic linkage amplitude, i
qBe to hand over shaft current value, L
d, L
qBe respectively a stator d-axis and a friendship axle inductance value, i
sIt is the current phasor amplitude; δ
-Corresponding angle of torsion β is in 0 °～90 ° scopes.
3. the mixed speed regulating method of permanent magnet synchronous motor according to claim 2 is characterized in that δ
-Corresponding angle of torsion β is near 90 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200610155176XA CN100440720C (en) | 2006-12-12 | 2006-12-12 | Mixed speed regulating method for permanent magnetic synchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200610155176XA CN100440720C (en) | 2006-12-12 | 2006-12-12 | Mixed speed regulating method for permanent magnetic synchronous motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1976211A true CN1976211A (en) | 2007-06-06 |
| CN100440720C CN100440720C (en) | 2008-12-03 |
Family
ID=38126055
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB200610155176XA Expired - Fee Related CN100440720C (en) | 2006-12-12 | 2006-12-12 | Mixed speed regulating method for permanent magnetic synchronous motor |
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| CN (1) | CN100440720C (en) |
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